Surgery assistance device, surgery assistance method, and computer program

Abstract

A surgery assistance device includes a true lumen information acquisition unit that acquires three dimensional position information of a true lumen existing in a target blood vessel, a true lumen image generation unit that acquires an angiographic image of the target blood vessel from a flat panel detector (FPD) arranged at a first imaging position and generates a true lumen image representing the true lumen at a position and in a posture corresponding to the angiographic image by using position information of the first imaging position and three dimensional position information of the true lumen, and an image composition unit that generates a composite image by compositing the angiographic image and the true lumen image and outputs the composite image.

What is claimed is: 
     
         1 . A surgery assistance device comprising:
 a processor configured to:
 acquire three dimensional position information of a true lumen existing in a target blood vessel; 
 acquire an angiographic image of the target blood vessel from a flat panel detector (FPD) arranged at a first imaging position; 
 generate a true lumen image representing the true lumen at a position and in a posture corresponding to the angiographic image by using position information of the first imaging position and the three dimensional position information of the true lumen; 
   generate a composite image by compositing the angiographic image and the true lumen image; and
 output the composite image to a display. 
   
     
     
         2 . The surgery assistance device according to  claim 1 , wherein
 the three dimensional position information of the true lumen includes information of a width of the true lumen, and   the processor is further configured to generate the true lumen image representing the true lumen having the width.   
     
     
         3 . The surgery assistance device according to  claim 1 ,
 wherein in response to the FPD being moved to a second imaging position different from the first imaging position and imaging is performed by the FPD at the second imaging position, the processor reacquires an angiographic image captured at the second imaging position, and regenerates a true lumen image representing the true lumen at a position and in a posture corresponding to the reacquired angiographic image by using position information of the second imaging position and three dimensional position information of the true lumen, and   wherein the processor regenerates a composite image by compositing the reacquired angiographic image and the regenerated true lumen image, and outputs the regenerated composite image.   
     
     
         4 . The surgery assistance device according to  claim 1 , wherein
 the angiographic image includes a first angiographic image,   the processor is further configured to:
 acquire a second angiographic image captured by the FPD arranged at a second imaging position different from the first imaging position; and 
 acquire an ultrasonic image of an inside of the target blood vessel captured by an ultrasonic sensor, 
   the ultrasonic image is an image captured in a state where the ultrasonic sensor is arranged at a first mark position,   the ultrasonic image includes the target blood vessel and a medical device arranged at a second mark position within the target blood vessel,   the first angiographic image includes the ultrasonic sensor arranged at the first mark position within the target blood vessel, and the medical device different from the ultrasonic sensor arranged at the second mark position within the target blood vessel,   the second angiographic image includes the ultrasonic sensor arranged at the first mark position within the target blood vessel, and   the processor is further configured to acquire the three dimensional position information of the true lumen by using position information of the first imaging position, the first angiographic image, position information of the second imaging position, the second angiographic image, and the ultrasonic image.   
     
     
         5 . The surgery assistance device according to  claim 4 ,
 wherein the processor is further configured to:
 acquire position information of the ultrasonic sensor by using images of the ultrasonic sensor included in the first angiographic image and the second angiographic image, 
 associate a positional relation between the first angiographic image and the ultrasonic image by using images of the medical device included in the first angiographic image and the ultrasonic image, 
 acquire position information of the true lumen from the ultrasonic image, and 
 acquire the three dimensional position information of the true lumen by using the position information of the ultrasonic sensor and the position information of the true lumen in the ultrasonic image by the ultrasonic sensor. 
   
     
     
         6 . The surgery assistance device according to  claim 1 , wherein
 the angiographic image includes a first angiographic image,   the processor is further configured to acquire a second angiographic image captured by the FPD arranged at a second imaging position different from the first imaging position,   the first angiographic image includes the true lumen of the target blood vessel and a medical device arranged at a first mark position within the target blood vessel,   the second angiographic image includes the true lumen of the target blood vessel and the medical device arranged at the first mark position within the target blood vessel, and   the processor acquire the three dimensional position information of the true lumen by using an image of the medical device and an image of the true lumen, which are included in the first angiographic image and the second angiographic image.   
     
     
         7 . A surgery assistance method comprising:
 acquiring three dimensional position information of a true lumen existing in a target blood vessel;   acquiring an angiographic image of the target blood vessel from a flat panel detector (FPD) disposed at a first imaging position,   generating a true lumen image representing the true lumen at a position and in a posture corresponding to the angiographic image by using position information of the first imaging position and the three dimensional position information of the true lumen;   generating a composite image by compositing the angiographic image and the true lumen image; and   outputting the composite image to a display.   
     
     
         8 . The surgery assistance method according to  claim 7 , wherein
 the three dimensional position information of the true lumen includes information of a width of the true lumen, and   the method further includes generating the true lumen image representing the true lumen having the width.   
     
     
         9 . The surgery assistance method according to  claim 7 ,
 wherein in response to the FPD being moved to a second imaging position different from the first imaging position and imaging is performed by the FPD at the second imaging position, the method includes reacquiring an angiographic image captured at the second imaging position, and regenerating a true lumen image representing the true lumen at a position and in a posture corresponding to the reacquired angiographic image by using position information of the second imaging position and three dimensional position information of the true lumen, and   wherein method includes regenerating a composite image by compositing the reacquired angiographic image and the regenerated true lumen image, and outputs the regenerated composite image.   
     
     
         10 . The surgery assistance method according to  claim 7 , wherein
 the angiographic image includes a first angiographic image,   the method further includes:
 acquiring a second angiographic image captured by the FPD arranged at a second position different from the first imaging position; and 
 acquiring an ultrasonic image of an inside of the target blood vessel captured by an ultrasonic sensor, 
   the ultrasonic image is an image captured in a state where the ultrasonic sensor is arranged at a first mark position,   the ultrasonic image includes the target blood vessel and a medical device arranged at a second mark position within the target blood vessel,   the first angiographic image includes the ultrasonic sensor arranged at a first mark position within the target blood vessel, and the medical device different from the ultrasonic sensor arranged at the second mark position within the target blood vessel,   the second angiographic image includes the ultrasonic sensor arranged at the first mark position within the target blood vessel,   and   the method further includes acquiring the three dimensional position information of the true lumen by using position information of the first imaging position, the first angiographic image, position information of the second imaging position, the second angiographic image, and the ultrasonic image.   
     
     
         11 . The surgery assistance method according to  claim 10 , wherein the method further includes:
 generating position information of the ultrasonic sensor by using images of the ultrasonic sensor included in the first angiographic image and the second angiographic image, associating a positional relation between the first angiographic image and the ultrasonic image by using images of the medical device included in the first angiographic image and the ultrasonic image,   acquiring position information of the true lumen from the ultrasonic image, and   acquiring the three dimensional position information of the true lumen by using the position information of the ultrasonic sensor and the position information of the true lumen in the ultrasonic image by the ultrasonic sensor.   
     
     
         12 . The surgery assistance method according to  claim 7 , wherein
 the angiographic image includes a first angiographic image,   the method further includes acquiring a second angiographic image captured by the FPD arranged at a second imaging position different from the first imaging position,   the first angiographic image includes the true lumen of the target blood vessel and a medical device arranged at a first mark position within the target blood vessel,   the second angiographic image includes the true lumen of the target blood vessel and the medical device arranged at the first mark position within the target blood vessel, and   the method further includes acquiring the three dimensional position information of the true lumen by using an image of the medical device and an image of the true lumen, which are included in the first angiographic image and the second angiographic image.   
     
     
         13 . A non-transitory computer readable medium storing a computer program that causes a processor to execute information processing, the information processing comprising:
 acquiring three dimensional position information of a true lumen existing in a target blood vessel;   a acquiring an angiographic image of the target blood vessel from a flat panel detector (FPD) disposed at a first imaging position,   generating a true lumen image representing the true lumen at a position and in a posture corresponding to the angiographic image by using position information of the first imaging position and the three dimensional position information of the true lumen;   generating a composite image by compositing the angiographic image and the true lumen image; and   outputting the composite image to a display.   
     
     
         14 . The computer program according to  claim 13 , wherein
 the three dimensional position information of the true lumen includes information of a width of the true lumen, and   the information processing further includes generating the true lumen image representing the true lumen having the width.   
     
     
         15 . The computer program according to  claim 13 ,
 wherein in response to the FPD being moved to a second imaging position different from the first imaging position and imaging is performed by the FPD at the second imaging position, the information processing further includes reacquiring an angiographic image captured at the second imaging position, and regenerating a true lumen image representing the true lumen at a position and in a posture corresponding to the reacquired angiographic image by using position information of the second imaging position and three dimensional position information of the true lumen, and   wherein the information processing further includes regenerating a composite image by compositing the reacquired angiographic image and the regenerated true lumen image, and outputs the regenerated composite image.   
     
     
         16 . The computer program according to  claim 13 , further wherein
 the angiographic image includes a first angiographic image,   the information processing further includes:
 acquiring a second angiographic image captured by the FPD arranged at a second position different from the first imaging position; and 
 acquiring an ultrasonic image of an inside of the target blood vessel captured by an ultrasonic sensor, 
   the ultrasonic image is an image captured in a state where the ultrasonic sensor is arranged at a first mark position,   the ultrasonic image includes the target blood vessel and a medical device arranged at a second mark position within the target blood vessel,   the first angiographic image includes the ultrasonic sensor arranged at the first mark position within the target blood vessel, and the medical device different from the ultrasonic sensor arranged at the second mark position within the target blood vessel,   the second angiographic image includes the ultrasonic sensor arranged at the first mark position within the target blood vessel,   and   the information processing further includes acquiring the three dimensional position information of the true lumen by using position information of the first imaging position, the first angiographic image, position information of the second imaging position, the second angiographic image, and the ultrasonic image.   
     
     
         17 . The computer program according to  claim 16 , wherein information processing further includes:
 generating position information of the ultrasonic sensor by using images of the ultrasonic sensor included in the first angiographic image and the second angiographic image,   associating a positional relation between the first angiographic image and the ultrasonic image by using images of the medical device included in the first angiographic image and the ultrasonic image,   generating position information of the true lumen from the ultrasonic image, and   acquiring three dimensional position information of the true lumen by using the position information of the ultrasonic sensor and the position information of the true lumen in the ultrasonic image by the ultrasonic sensor.   
     
     
         18 . The computer program according to  claim 13 , wherein
 the angiographic images includes a first angiographic image,   the information processing further includes acquiring a second angiographic image captured by the FPD arranged at a second imaging position different from the first imaging position,   the first angiographic image includes the true lumen of the target blood vessel and a medical device arranged at a first mark position within the target blood vessel,   the second angiographic image includes the true lumen of the target blood vessel and the medical device arranged at the first mark position within the target blood vessel, and   the information processing further includes acquiring the three dimensional position information of the true lumen by using an image of the medical device and an image of the true lumen, which are included in the first angiographic image and the second angiographic image.